基于足底力传感器的脑卒中患者下肢运动感知获取方法

Lower Limb Motion Perception Acquisition Method for Stroke Patients Based on Plantar Force Sensor

脑卒中患者的下肢运动意图对下肢康复机器人辅助训练具有重要意义,本文提出了一种承受负载较大、结构简单、价格低廉的足底多维力传感器系统,旨在用于下肢康复机器人中的运动意图识别。首先,详细描述了足底多维力传感器系统的设计和分析,包括足底力分析、系统结构设计和力/扭矩转化模型的建立。接着,通过实验对传感系统平台的性能进行了校验,结果表明设计的传感系统能够稳定准确地感应患者足底力变化,为精准的运动意图识别提供了可靠的数据支持。这一方法有望应用于脑卒中患者的下肢康复训练,提高康复效果。

The lower limb movement intentions of stroke patients are of great significance for assisting training with lower limb rehabilitation robots.This paper proposes a low-cost,structurally simple and high-load-bearing multi-dimensional foot force sensor system designed for the recognition of movement intentions in lower limb rehabilitation robots.Firstly,a detailed description of the design and analysis of the multi-dimensional foot force sensor system is provided,including foot force analysis,system structure design,and the establishment of a force/torque conversion model.Subsequently,through experiments,the performance of the sensor system platform is validated.The results demonstrate that the designed sensor system can stably and accurately detect changes in the foot forces of the patients,providing reliable data support for precise recognition of movement intentions.This method holds promise for applications in lower limb rehabilitation training for stroke patients,thereby enhancing the effectiveness of rehabilitation.